Effect of Layer Compliance on Frictional Behavior of Soft Robotic Fingers
Effect of Layer Compliance on Frictional Behavior of Soft Robotic Fingers
复制标题
层柔度对软机器人手指摩擦行为的影响
DOI：
10.1163/156855307782227390
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
G. Vassura
中科院分区：
文献类型：
--
作者：
P. Tiezzi;I. Kao;G. Vassura
本文研究了机器人指尖通过软接触界面施加摩擦载荷的建模与设计。研究了法向载荷作用在接触区域上的持续摩擦力和力矩的关系。提出了一个考虑接触面积和摩擦系数随法向载荷作用关系的模型。采用不同材料、不同覆盖软层厚度的简化指尖试件进行试验，通过设计试验验证模型的有效性。所得结果对带有软垫或软皮的机械手和机械手指的设计具有重要的参考意义，可以帮助选择适合不同接触垫或软皮层的特征
In this paper, the modeling and design for frictional loads applied by robotic fingertips through soft contact interface are investigated. The dependence of the sustainable friction forces and moments due to the normal load applied on the contact area is studied. A model that considers the dependence of both the contact area and the coefficient of friction on the application of normal load is proposed. Specimens of simplified fingertips, made with different materials and shaped with different thickness of the covering soft layer, are tested in order to validate the proposed model via designed experiments. The results obtained have very important relevance on the design of robotic hands and fingers equipped with soft pads or skins, and can help on the choice of suitable features for the different layers of contact pads or skins